root / scout / libscout / src / behaviors / Odometry.h @ a69f6363
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#ifndef _ODOMETRY_H_
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#define _ODOMETRY_H_
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#include "../Behavior.h" |
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#include "../Sensors.h" |
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#include "messages/ScoutPosition.h" |
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#define WHEEL_RADIUS .2 |
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#define WHEEL_CIRCUM (2*M_PI*WHEEL_RADIUS) |
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#define WHEEL_BASE 1.2 |
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#define ENCODER_COUNT (2*WHEEL_RADIUS*350*M_PI/WHEEL_BASE) |
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#define DIST_PER_TICK (WHEEL_CIRCUM/ENCODER_COUNT)
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typedef struct{ |
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float x;
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float y;
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float theta;
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} pos; |
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class Odometry : Behavior{ |
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public:
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/** Set up the odometry node and prepare communcations over ROS */
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Odometry(std::string scoutname, Sensors* sensors); |
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/** Query encoders and estimate position based on encoder reading */
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void get_position();
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/** Gets scout position and prints to screen */
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void run();
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private:
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/** ROS publisher and client declaration */
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ros::NodeHandle node; |
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ros::Publisher scout_position; |
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ros::ServiceClient query_encoders_client; |
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messages::ScoutPosition position; |
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std::string name; |
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float msg_time_in;
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int motor_fl_dist;
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int motor_fr_dist;
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int motor_bl_dist;
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int motor_br_dist;
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unsigned int motor_fl_ticks; |
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unsigned int motor_fr_ticks; |
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unsigned int motor_bl_ticks; |
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unsigned int motor_br_ticks; |
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float scout_theta;
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pos* scout_pos; |
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}; |
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#endif
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